# 6dof joint simulation problem

3 views (last 30 days)
Ridhi Bansal on 13 Jan 2023
Commented: Ridhi Bansal on 18 Jan 2023
I am running a simulation if I use 6dof joint my simulation is so slow that it almost seems its not working. Where in the same model it I use a planar or cartesian joint keeping rest everything same the simulation works fine. what could be going wrong?
Ridhi Bansal on 16 Jan 2023
I have few more questions:
1. If i used a planar joint between an object and ground, do I get normal force?
2. Also I tried using 6DOF joint between object and world frame and contact friction block between object and ground and the object falls passing through ground block, how to i stop it from passing through ground block?

Sam Chak on 16 Jan 2023
Most likely that the simulation ran into one of the singularities.
You must identify the singularities and don't move your joints close to them.
Ridhi Bansal on 18 Jan 2023
For planar joint the normal force is zero even when on the ground. Is this correct? Because this is what my simulations are showing me.
For 6dof joint the mass passes through the ground. How do you constrain it to stay on the surface and still have a normal force?

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